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ThrustAllocator: write the error coefficients every call; no Array.Clear on A

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Every entry of A is now assigned each call or never written, so the clear was a second
owner of the same state (hand mutants a-never-cleared and a-cleared-by-division survived
it as equivalent).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This commit is contained in:
Meta Vens 2026-10-10 03:31:49 +02:00
commit 1fc98bdcde
1 changed files with 4 additions and 4 deletions
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8
Assets/Scripts/ServerShared/ThrustAllocator.cs
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@ -39,7 +39,6 @@ public sealed class ThrustAllocator
var vars = n + ErrorVariables;
var rows = FixedRows + n;
Array.Clear(_a, 0, rows * vars);
// Rows 0 and 1 are the translation axes (starboard, forward), row 2 the yaw.
for (var axis = 0; axis < 3; axis++)
@ -60,10 +59,11 @@ public sealed class ThrustAllocator
var row = axis * vars;
for (var i = 0; i < n; i++) _a[row + i] = Component(columns[i], axis) * scale;
_b[axis] = demand * scale;
if (axis < 2 && extreme > 0)
if (axis < 2)
{
_a[row + n + 2 * axis] = -weight;
_a[row + n + 2 * axis + 1] = weight;
var errorWeight = extreme > 0 ? weight : 0f;
_a[row + n + 2 * axis] = -errorWeight;
_a[row + n + 2 * axis + 1] = errorWeight;
}
}